Visibility graph-based path-planning algorithm with quadtree representation

Path planning is an essential and inevitable problem in robotics. Trapping in local minima and discontinuities often exist in local path planning. To overcome these drawbacks, this paper presents a smooth path planning algorithm based on modified visibility graph. This algorithm consists of three steps: (1) polygons are generated from detected obstacles; (2) a collision-free path is found by simultaneous visibility graph construction and path search by A[Formula: see text] (SVGA); (3) the path is smoothed by B-spline curves and particle swarm optimization (PSO). Simulation experiment results show the effectiveness of this algorithm, and a smooth path can be found fleetly.

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A Path-Planning Algorithm for AGV Based on the Combination between Ant Colony Algorithm and Immune Regulation

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.422.3 ◽

2011 ◽

Vol 422 ◽

pp. 3-9 ◽

Cited By ~ 3

Author(s):

Jian Zhong Huang ◽

Yu Wan Cen

Keyword(s):

Path Planning ◽

Immune Regulation ◽

Ant Colony Algorithm ◽

Visibility Graph ◽

Ant Colony ◽

Environment Modeling ◽

Environment Model ◽

Global Path Planning ◽

Planning Algorithm ◽

Path Planning Algorithm

For the demand of AGV’s environment modeling and path-planning,the paper discusses how to establish static environment model of visibility graph and proposes a visibility table method.Moreover,based on the environment modeling,we put forward a new kind of global path-planning algorithm by the combination between ant colony algorithm and immune regulation.

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A Global Path Planning Algorithm Based on Bidirectional SVGA

Journal of Robotics ◽

10.1155/2017/8796531 ◽

2017 ◽

Vol 2017 ◽

pp. 1-11 ◽

Cited By ~ 6

Author(s):

Taizhi Lv ◽

Chunxia Zhao ◽

Jiancheng Bao

Keyword(s):

Path Planning ◽

Multicore Processors ◽

Computing Time ◽

Optimal Path ◽

Visibility Graph ◽

Path Optimization ◽

Time And Space ◽

Global Path Planning ◽

Planning Algorithm ◽

Path Planning Algorithm

For path planning algorithms based on visibility graph, constructing a visibility graph is very time-consuming. To reduce the computing time of visibility graph construction, this paper proposes a novel global path planning algorithm, bidirectional SVGA (simultaneous visibility graph construction and path optimization by A⁎). This algorithm does not construct a visibility graph before the path optimization. However it constructs a visibility graph and searches for an optimal path at the same time. At each step, a node with the lowest estimation cost is selected to be expanded. According to the status of this node, different through lines are drawn. If this line is free-collision, it is added to the visibility graph. If not, some vertices of obstacles which are passed through by this line are added to the OPEN list for expansion. In the SVGA process, only a few visible edges which are in relation to the optimal path are drawn and the most visible edges are ignored. For taking advantage of multicore processors, this algorithm performs SVGA in parallel from both directions. By SVGA and parallel performance, this algorithm reduces the computing time and space. Simulation experiment results in different environments show that the proposed algorithm improves the time and space efficiency of path planning.

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A Fast Global Flight Path Planning Algorithm Based on Space Circumscription and Sparse Visibility Graph for Unmanned Aerial Vehicle

Electronics ◽

10.3390/electronics7120375 ◽

2018 ◽

Vol 7 (12) ◽

pp. 375 ◽

Cited By ~ 11

Author(s):

Abdul Majeed ◽

Sungchang Lee

Keyword(s):

Path Planning ◽

Computing Time ◽

Three Dimensional ◽

Search Space ◽

Flight Path ◽

Visibility Graph ◽

Planning Algorithm ◽

Path Lengths ◽

Path Planning Algorithm ◽

Obstacle Geometry

This paper proposes a new flight path planning algorithm that finds collision-free, optimal/near-optimal and flyable paths for unmanned aerial vehicles (UAVs) in three-dimensional (3D) environments with fixed obstacles. The proposed algorithm significantly reduces pathfinding computing time without significantly degrading path lengths by using space circumscription and a sparse visibility graph in the pathfinding process. We devise a novel method by exploiting the information about obstacle geometry to circumscribe the search space in the form of a half cylinder from which a working path for UAV can be computed without sacrificing the guarantees on near-optimality and speed. Furthermore, we generate a sparse visibility graph from the circumscribed space and find the initial path, which is subsequently optimized. The proposed algorithm effectively resolves the efficiency and optimality trade-off by searching the path only from the high priority circumscribed space of a map. The simulation results obtained from various maps, and comparison with the existing methods show the effectiveness of the proposed algorithm and verify the aforementioned claims.

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COMPUTATIONALLY EFFICIENT PATH PLANNING ALGORITHM FOR AUTONOMOUS VEHICLE

Jurnal Teknologi ◽

10.11113/jurnalteknologi.v83.14600 ◽

2020 ◽

Vol 83 (1) ◽

pp. 133-143

Author(s):

Sanjoy Kumar Debnath ◽

Rosli Omar ◽

Nor Badariyah Abdul Latip ◽

Susama Bagchi ◽

Elia Nadira Sabudin ◽

...

Keyword(s):

Path Planning ◽

Performance Assessment ◽

Free Path ◽

Path Length ◽

Autonomous Vehicle ◽

Computation Time ◽

Visibility Graph ◽

Computationally Efficient ◽

Planning Algorithm ◽

Path Planning Algorithm

This paper analyses an experimental path planning performance between the Iterative Equilateral Space Oriented Visibility Graph (IESOVG) and conventional Visibility Graph (VG) algorithms in terms of computation time and path length for an autonomous vehicle. IESOVG is a path planning algorithm that was proposed to overcome the limitations of VG which is slow in obstacle-rich environment. The performance assessment was done in several identical scenarios through simulation. The results showed that the proposed IESOVG algorithm was much faster in comparison to VG. In terms of path length, IESOVG was found to have almost similar performance with VG. It was also found that IESOVG was complete as it could find a collision-free path in all scenarios.

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A Geometric Path-Planning Algorithm in Cluttered Planar Environments Using Convex Hulls

Volume 2B: 44th Design Automation Conference ◽

10.1115/detc2018-85384 ◽

2018 ◽

Cited By ~ 1

Author(s):

Nafiseh Masoudi ◽

Georges Fadel

Keyword(s):

Path Planning ◽

Optimal Path ◽

Visibility Graph ◽

Convex Hulls ◽

Planning Problem ◽

Wire Routing ◽

Visibility Algorithm ◽

Planning Algorithm ◽

Global Optimal ◽

Path Planning Algorithm

The problem of finding a collision free path in an environment occupied by obstacles, known as path planning, has many applications in design of complex systems such as wire routing in automobile assemblies or motion planning for robots. Developing the visibility graph of the workspace is among the first techniques to address the path-planning problem. The visibility algorithm is efficient in finding the global optimal path. However, it is computationally expensive as it explores the entire workspace of the problem to create all non-intersecting segments of the graph. In this paper, we propose an algorithm based on the notion of convex hulls to generate the partial visibility graph from a given start point to a goal point in a 2D workspace cluttered with a number of disjoint polygonal convex or concave obstacles. The algorithm facilitates the attainment of the shortest path in a planar workspace while reducing the size of the visibility graph to explore.

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